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Comparison of the proposed model with recent works on KITTI dataset.
| Method | Car | Pedestrian | Cyclist | mAP | Inference time (ms) | Model size (M) | Gflops |
|---|---|---|---|---|---|---|---|
| YOLOv3 (original) | 91.1 | 74.6 | 79.0 | 81.6 | 47 | 246.3 | 112.6 |
| YOLOv3+SE (GMP) | 91.4 | 75.1 | 81.6 | 82.7 | 49 | 251.6 | 115.3 |
| YOLOv3+SE (GAP) | 91.2 | 75.5 | 82.2 | 83.0 | 49 | 251.6 | 115.3 |
| YOLOv3+SE (GAP and GMP) | 91.7 | 75.6 | 82.8 | 83.4 | 50 | 257.0 | 117.2 |
| YOLOv3+ACA (ours) | 92.3 | 77.0 | 83.4 | 84.2 | 50 | 262.3 | 119.9 |
| YOLOv3+ACA+ASA (ours) | 92.6 | 77.4 | 83.6 | 84.5 | 51 | 262.5 | 120.0 |
